..in this case I didn't use hal, I'm just a beginner, but since I didn't know anything, this is great. As for the configuration in this case, it's all down to the poor Chinese manual for the ASSD driver of the servo motor, the basis is that at the beginning I thought it could only work in 3 modes position/speed/torque.. I listened to your old advice to rest for a day , the next night I read the instructions from beginning to end..every parameter..in the end I realized that the driver has the possibility to change the mode of operation through the input..it is possible to switch from position to speed, but there is one more thing..it inputs in the driver are already factory set to default. they have to be allocated.. (if someone needs parameters I will be happy to help also will attach all hal/ini)... then I connected the output from the Mesa 7i96s to a relay that changes the operating mode on the driver from A (step dir) to S (speed ) .In the gcode, it is only necessary to enter M64 P0 for example and the output activates the input on the driver, change the operating mode and after the m64 command, put M3... follows the S command. Considering that I have no need for accurate indexing, this one has exactly what I wanted for me. Thanks Tom, I'll probably need help in the future with connecting the MPG.. when I get it all done with axis... than Mpg in the end.. beer is always ready if you're up to it Nis get in touch-
)/Hvala
